AU
C006102

DTC C006102 indicates the Intelligent Power Brake (IPB) system received a lateral acceleration (Ay) sensor signal outside the plausible range or with an abnormal status — Atto 8

Braking System

DTC C006102 indicates the Intelligent Power Brake (IPB) system received a lateral acceleration (Ay) sensor signal outside the plausible range or with an abnormal status.

This sensor typically integrates with the longitudinal acceleration (Ax) sensor and yaw rate sensor into a single inertial sensor module mounted in the center of the vehicle chassis or under a seat.

It provides a key input signal for the Electronic Stability Control (ESC) system, Anti-lock Braking System (ABS), and electronic parking system.

When this fault triggers, the IPB system cannot accurately obtain the vehicle's lateral dynamic parameters, limiting or disabling the body stability control function.

This condition may also trigger a chain reaction fault in the electronic parking system, severely compromising vehicle stability and safety during cornering or emergency evasive maneuvers.

The '02' suffix in the fault code indicates a signal plausibility error, meaning the signal value logically conflicts with the vehicle's actual condition or data from other sensors.

The C006102 fault code on the Atto 8 indicates the IPB system is receiving an implausible or abnormal lateral acceleration sensor signal. Severity is medium, as ESC, ABS, and electronic parking functions may be limited, affecting stability during cornering or emergency maneuvers. Common causes include an internal inertial sensor fault or a loose, damaged, or misaligned sensor mount. Visit an authorised dealer for diagnosis and repair. Typical repair cost data is available from recorded cases.
4
Cases Logged
5
Causes
Likely Causes — Atto 8
  • 1Internal circuit fault in the inertial sensor (yaw rate sensor) or damaged MEMS sensing element, causing lateral acceleration signal output deviation or distortion.
  • 2The sensor mounting bracket is loose, deformed, or misaligned (e.g., not restored after chassis bottoming out or a collision), causing the sensor reference plane to misalign with the vehicle's actual horizontal plane.
  • 3Poor contact at the sensor wiring harness connector, backed-out terminals, oxidized or corroded pins, or a damaged wiring harness causing abnormal signal transmission impedance or an intermittent open circuit.
  • 4Failure to perform the inertia sensor calibration procedure after vehicle accident repairs or sensor replacement, resulting in a zero-point offset or range error.
  • 5IPB control module internal signal processing circuit fault or software version defect causing abnormal sensor signal sampling, filtering, or CAN message parsing.
What To Do
  • 1
    Use the dedicated diagnostic tool (VDS2000/3000) to read all IPB system fault codes. Confirm if C006202 (longitudinal acceleration signal fault), C006302 (yaw rate signal fault), or C006108 (signal fault) occur simultaneously, and record the freeze frame data.
  • 2
    Visually inspect the inertia sensor condition and installation. Confirm the mounting bracket shows no deformation, the bolts are secure (standard torque 9-11 N·m), and the sensor arrow mark aligns with the vehicle's forward direction.
  • 3
    Check the sensor wiring harness connector (usually 24-pin) for a secure connection. Disconnect the plug and inspect the terminals for backed-out pins, corrosion, or water ingress. Measure the supply voltage at the plug; it must be 12V±0.5V and stable without fluctuation.
  • 4
    If the wiring is normal, swap in an inertia sensor of the same model for cross-validation. If installing a new sensor, perform the 'Inertia Sensor Calibration' or 'Yaw Rate Sensor Calibration' procedure: park the vehicle on level ground, access the IPB system Special Functions menu via the diagnostic tool, and follow the prompts to complete the sensor zero-point and level learning.
  • 5
    If the fault occurs intermittently, simulate vehicle vibration (raise the vehicle and gently shake the wiring harness) and monitor the signal data stream. Verify the Ay signal value is near 0 m/s² (within ±0.3) when the vehicle is stationary, and logically matches the steering angle and vehicle speed while driving.
  • 6
    After repair, clear the fault code and perform a road test (including straight-line driving, cornering, and emergency lane changes) to confirm ESC/ABS functions operate normally and the fault code does not return.
Real-World Cases
BYD DTC AI Analysis

Yaw rate sensor internal fault triggered C006102

✓
Owner reported the instrument panel displayed "Check Electronic Parking System". The fault persisted after power cycling. Scanned vehicle systems with a diagnostic tool; the Integrated Power Brake (IPB) logged DTCs C006102 (IPB 0x223 message Ay signal value error), C006202 (IPB 0x223 message Ax signal value error), and C006302 (IPB 0x222 message Yaw signal value error). All module software versions were current. IPB connector power supply measured normal. Yaw Rate Sensor (integrated lateral acceleration sensor) power supply and CAN lines measured normal. Determined internal fault in the Yaw Rate Sensor. Replaced the Yaw Rate Sensor assembly (located in the centre of the vehicle chassis or beneath the seat, integrating lateral and longitudinal acceleration sensors). Fault resolved.
Original source ↗
BYD DTC AI Analysis

Loose inertial sensor mounting caused signal anomaly

✓
ESP warning light suddenly illuminated while driving, with the instrument cluster displaying 'Check ESP System' and 'Check Electronic Parking System' messages. Driver noticed abnormal stability control intervention during cornering. Connected a scan tool and retrieved IPB system DTCs: C006102 (Lateral Acceleration Sensor Signal Value Error) and C006108 (Lateral Acceleration Sensor Signal Fault). Checked IPB module power supply (12V) and ground—both normal. CAN bus communication waveforms showed no abnormalities. Lifted the vehicle and found the yaw rate sensor (inertial sensor) mounting bracket bolts loosened from underbody scrape damage, shifting the sensor position and causing the lateral acceleration signal (Ay) output to exceed acceptable limits. Re-aligned the yaw rate sensor mounting position, tightened the mounting bolts to specified torque (9-11N·m), performed the 'Yaw Rate Sensor Calibration' procedure using the factory scan tool, cleared the fault codes, and road tested with normal results.
BYD DTC AI Analysis

Poor contact at sensor wiring harness connector

✓
Vehicle intermittently displayed electronic parking system fault warnings, especially after driving on bumpy roads. Scanned the IPB system and found stored historical DTCs C006102 (lateral acceleration signal value error) and C006164 (signal status bit error). The yaw rate sensor showed no external damage, but measuring the supply voltage revealed occasional jumps (should be stable 12V). Further inspection found a backed-out terminal at pin 15 (Ay signal line) inside the 24-pin sensor harness connector, causing excessive contact resistance and signal distortion. Reseated the backed-out terminal and repaired the connector, replacing the entire sensor harness plug if necessary. Confirmed good contact, cleared the DTCs, and resolved the fault.
BYD DTC AI Analysis

C006102 caused by failure to calibrate sensor after accident repair

✓
After a front-end collision and repairs (replacement of front bumper, radiator support, etc.), the instrument cluster displayed persistent "Check Electronic Parking System" and "ESP Fault" warnings. The vehicle drove normally, but the stability system did not function. A scan tool retrieved IPB DTCs C006102 (Lateral Acceleration Signal Error) and C051D01 (IPB Yaw Rate Sensor Calibration Error). The yaw rate sensor—new, replaced during the accident repairs—had no external damage and the wiring harness connections were normal. Repair history showed the sensor had not been recalibrated after replacement. The technician parked the vehicle on level ground, connected a dedicated diagnostic tool (VDS2000/3000), and accessed the IPB system. They ran the "Inertial Sensor Calibration" or "Yaw Rate Sensor Calibration" routine, followed the prompts to complete the vehicle level calibration and sensor zero-point learning, and cleared the DTCs after successful calibration. The warning lights went out and the system returned to normal.
Other Atto 8 Fault Codes
B110811This DTC indicates a short circuit in the air conditioning system PM2.5 air quality sensor (rapid detector). Specifically, abnormal continuity exists between the sensor power supply circuit or signal output circuit and body ground or battery positive. This causes the control module (ACU/air conditioning controller) to detect abnormal current or a voltage signal outside the valid range (typically 0V or supply voltage). The PM2.5 sensor monitors internal and external particulate concentrations, providing the data the automatic air conditioning system uses to switch between fresh air and recirculation modes. A short circuit disables the air quality monitoring function. This fault may force the air conditioning system into recirculation protection mode and trigger related thermal management system faults, as the air conditioning system acts as a key actuator in vehicle thermal management. In severe cases, the short circuit current can damage the internal sampling circuit of the air conditioning controller or overheat the wiring harness.B1109DTC B1109 indicates an open circuit in the communication line between the air conditioning system PM2.5 air quality sensor (dust concentration sensor) and the air conditioning control unit (AC ECU), or an open circuit within the sensor internal circuitry. Typically located in the air conditioning intake duct, this sensor monitors real-time PM2.5 particle concentration inside and outside the vehicle. It provides data to the automatic air conditioning system for intelligent switching between fresh air and recirculation modes and for controlling the air purification device. During an open circuit fault, the AC ECU cannot receive the air quality signal, triggering the system fail-safe mode. Symptoms typically include failure of the automatic recirculation function, abnormal air purification indicator light operation, or abnormal air quality data displayed on the air conditioning panel. Severe cases may compromise the cabin environment control strategy, but do not directly affect vehicle driving safety.B110A02DTC B110A02 indicates the thermal management master control unit (HVAC ECU) or body control module (BCM) failed to receive valid CAN data frames from the PM2.5 air quality sensor over consecutive communication cycles (typically 500ms per cycle). The sensor typically mounts at the HVAC unit air inlet or behind the glove box and transmits real-time particulate concentration data (unit: μg/m³) to the HVAC controller via the CAN bus. The fault is essentially a communication link layer timeout. Potential causes include physical layer wiring faults, sensor power supply failures, sensor internal MCU lockup, or CAN network topology damage. Although this non-critical fault does not directly affect driving safety, it disables the intelligent air purification strategy and the automatic fresh air/recirculation switching function. In extreme cases, it triggers a thermal management system degraded mode, limiting compressor power or fixing the air flap position.B110B07This fault code indicates abnormal operation of the internal air pump (sampling pump) in the PM2.5 air quality detection module. The PM2.5 detector uses the laser scattering principle to measure particulate concentration and requires a built-in air pump to draw ambient air into the detection chamber at a constant flow rate. The ECU sets this code when it detects an open or short in the air pump drive circuit, abnormal current (stall or free-running), or abnormal speed feedback. This fault causes the automatic air conditioning system to lose air quality sensing capability, preventing automatic switching between fresh air and recirculation modes. The instrument cluster air quality display may show '--' or a fixed value, but the fault does not affect the vehicle powertrain or basic air conditioning cooling and heating functions.B173CDTC B173C indicates the Supplemental Restraint System (SRS) detects the Right Second Row Side Airbag squib circuit resistance exceeds the calibrated threshold (typically >4.5Ω). This fault is an active diagnostic result of the SRS system, indicating a high-resistance condition in the circuit between the Airbag Control Unit (ACU) and the airbag module. Causes for excessive resistance include increased contact resistance, a partially broken wiring harness, terminal oxidation, or an aging squib wire inside the airbag module. This fault causes the system to mark the airbag circuit as 'unreliable', meaning the airbag may fail to deploy during a collision. The fault typically illuminates the instrument cluster airbag warning light (SRS light) continuously, and some models also sound a warning buzzer.
Common problems reported for Atto 8 →Atto 8 overview →
Data confidence: Official This information is for reference only. Always consult a qualified technician for diagnosis and repair. Do not attempt high-voltage system repairs yourself.